CA3236625A1 - Systeme de planification de trajet en essaim pour vehicules - Google Patents
Systeme de planification de trajet en essaim pour vehicules Download PDFInfo
- Publication number
- CA3236625A1 CA3236625A1 CA3236625A CA3236625A CA3236625A1 CA 3236625 A1 CA3236625 A1 CA 3236625A1 CA 3236625 A CA3236625 A CA 3236625A CA 3236625 A CA3236625 A CA 3236625A CA 3236625 A1 CA3236625 A1 CA 3236625A1
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- vehicle
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- 238000000034 method Methods 0.000 claims abstract description 78
- 230000007613 environmental effect Effects 0.000 claims description 92
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- 238000012545 processing Methods 0.000 description 21
- 238000001514 detection method Methods 0.000 description 12
- 230000003542 behavioural effect Effects 0.000 description 8
- 238000005259 measurement Methods 0.000 description 5
- 239000013598 vector Substances 0.000 description 5
- 230000007423 decrease Effects 0.000 description 4
- 238000002121 ultrasonic speckle velocimetry Methods 0.000 description 3
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- 230000015572 biosynthetic process Effects 0.000 description 2
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0027—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement involving a plurality of vehicles, e.g. fleet or convoy travelling
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
- G05D1/1064—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones specially adapted for avoiding collisions with other aircraft
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0004—Transmission of traffic-related information to or from an aircraft
- G08G5/0013—Transmission of traffic-related information to or from an aircraft with a ground station
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0017—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information
- G08G5/0021—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information located in the aircraft
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/003—Flight plan management
- G08G5/0039—Modification of a flight plan
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/0052—Navigation or guidance aids for a single aircraft for cruising
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0073—Surveillance aids
- G08G5/0078—Surveillance aids for monitoring traffic from the aircraft
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/04—Anti-collision systems
- G08G5/045—Navigation or guidance aids, e.g. determination of anti-collision manoeuvers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
- B64U2201/102—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] adapted for flying in formations
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Business, Economics & Management (AREA)
- Automation & Control Theory (AREA)
- Human Resources & Organizations (AREA)
- Economics (AREA)
- Strategic Management (AREA)
- Quality & Reliability (AREA)
- Game Theory and Decision Science (AREA)
- Entrepreneurship & Innovation (AREA)
- Marketing (AREA)
- Operations Research (AREA)
- Development Economics (AREA)
- Tourism & Hospitality (AREA)
- General Business, Economics & Management (AREA)
- Theoretical Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
L'invention concerne une méthode mise en oeuvre par un système informatique pour identifier un trajet de déplacement basé sur des emplacements permettant à un véhicule de se déplacer d'un emplacement actuel vers un emplacement cible. La méthode comprend les étapes suivantes : accéder aux indications des emplacements d'objets associés aux objets que le véhicule doit éviter et aux emplacements vides non associés aux objets que le véhicule doit éviter ; pour chaque emplacement vide et chaque emplacement voisin vide, calculer le coût de déplacement entre cet emplacement vide et cet emplacement voisin vide ; et appliquer un algorithme de chemin à coût minimal à un graphe pour déterminer un trajet de déplacement entre l'emplacement actuel et l'emplacement cible, où les sommets du graphe représentent les emplacements, les arêtes du graphe relient les voxels voisins vides, et les coûts de déplacement sont associés aux arêtes.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CA3236625A CA3236625A1 (fr) | 2017-04-12 | 2017-04-12 | Systeme de planification de trajet en essaim pour vehicules |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/US2017/027253 WO2018190833A1 (fr) | 2017-04-12 | 2017-04-12 | Système de planification de trajet en essaim pour véhicules |
CA3093522A CA3093522C (fr) | 2017-04-12 | 2017-04-12 | Systeme de planification de trajet en essaim pour vehicules |
CA3236625A CA3236625A1 (fr) | 2017-04-12 | 2017-04-12 | Systeme de planification de trajet en essaim pour vehicules |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CA3093522A Division CA3093522C (fr) | 2017-04-12 | 2017-04-12 | Systeme de planification de trajet en essaim pour vehicules |
Publications (1)
Publication Number | Publication Date |
---|---|
CA3236625A1 true CA3236625A1 (fr) | 2018-10-18 |
Family
ID=59409752
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CA3236625A Pending CA3236625A1 (fr) | 2017-04-12 | 2017-04-12 | Systeme de planification de trajet en essaim pour vehicules |
CA3093522A Active CA3093522C (fr) | 2017-04-12 | 2017-04-12 | Systeme de planification de trajet en essaim pour vehicules |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CA3093522A Active CA3093522C (fr) | 2017-04-12 | 2017-04-12 | Systeme de planification de trajet en essaim pour vehicules |
Country Status (3)
Country | Link |
---|---|
US (1) | US20200117220A1 (fr) |
CA (2) | CA3236625A1 (fr) |
WO (1) | WO2018190833A1 (fr) |
Families Citing this family (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11796673B2 (en) | 2016-07-06 | 2023-10-24 | Lawrence Livermore National Security, Llc | Object sense and avoid system for autonomous vehicles |
US10066946B2 (en) | 2016-08-26 | 2018-09-04 | Here Global B.V. | Automatic localization geometry detection |
US11573575B2 (en) | 2017-04-12 | 2023-02-07 | Lawrence Livermore National Security, Llc | Attract-repel path planner system for collision avoidance |
CN110998468B (zh) * | 2017-08-04 | 2023-12-29 | 意造科技私人有限公司 | 用于uav自动驾驶架构的分体式控制***配置 |
JP2020531351A (ja) * | 2017-08-15 | 2020-11-05 | オッテンハイマーズ インコーポレイテッド | 遠隔物体の捕捉 |
TWI658253B (zh) * | 2018-03-02 | 2019-05-01 | 光陽工業股份有限公司 | 根據領頭成員之即時位置進行動態導航之導航方法及系統 |
US11093759B2 (en) * | 2018-03-06 | 2021-08-17 | Here Global B.V. | Automatic identification of roadside objects for localization |
KR102145277B1 (ko) * | 2018-09-20 | 2020-08-18 | 김세진 | 순찰용 드론 관제 시스템, 방법, 및 상기 방법을 실행시키기 위한 컴퓨터 판독 가능한 프로그램을 기록한 기록 매체 |
CN109542115B (zh) * | 2018-10-29 | 2021-08-31 | 中国航空无线电电子研究所 | 一种多无人机编队飞行避障控制策略制定方法 |
CN111465556A (zh) * | 2018-11-22 | 2020-07-28 | 乐天株式会社 | 信息处理***、信息处理方法及程序 |
US11312379B2 (en) * | 2019-02-15 | 2022-04-26 | Rockwell Collins, Inc. | Occupancy map synchronization in multi-vehicle networks |
CN109949567A (zh) * | 2019-04-23 | 2019-06-28 | 深圳成谷科技有限公司 | 一种基于车路协同技术的车辆编队方法与*** |
JP7263119B2 (ja) * | 2019-05-22 | 2023-04-24 | 村田機械株式会社 | 走行決定方法、コントローラ、及び当該コントローラを備える走行システム |
CN110347180A (zh) * | 2019-08-12 | 2019-10-18 | 南京邮电大学 | 计算无人机集群重新编队的最短编队距离的方法 |
CN111176309B (zh) * | 2019-12-31 | 2021-01-12 | 北京理工大学 | 一种基于球面成像的多无人机自组群互感理解方法 |
JP7481903B2 (ja) * | 2020-05-22 | 2024-05-13 | 株式会社東芝 | 情報処理装置、情報処理方法、情報処理システム及びコンピュータプログラム |
CN112526988B (zh) * | 2020-10-30 | 2022-04-22 | 西安交通大学 | 一种自主移动机器人及其路径导航和路径规划方法、*** |
US11927972B2 (en) | 2020-11-24 | 2024-03-12 | Lawrence Livermore National Security, Llc | Collision avoidance based on traffic management data |
CN113359838B (zh) * | 2021-06-25 | 2022-10-18 | 中国人民解放***箭军工程大学 | 一种多uav协同飞行控制***及方法 |
CN113379334B (zh) * | 2021-08-12 | 2021-11-09 | 北京交通发展研究院 | 基于有噪声轨迹数据的路段自行车骑行质量鉴别方法 |
US11999479B2 (en) * | 2021-09-13 | 2024-06-04 | Aurora Flight Sciences Corporation, a subsidiary of The Boeing Company | Fast path planning for dynamic avoidance in partially known environments |
WO2023235262A1 (fr) * | 2022-05-31 | 2023-12-07 | University Of Southern California | Affichage d'éclairages 3d à l'aide de taches lumineuses volantes |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5006988A (en) * | 1989-04-28 | 1991-04-09 | University Of Michigan | Obstacle-avoiding navigation system |
US6134502A (en) * | 1998-11-30 | 2000-10-17 | Caterpillar Inc. | Energy-based approach for obstacle avoidance |
US7447593B2 (en) * | 2004-03-26 | 2008-11-04 | Raytheon Company | System and method for adaptive path planning |
JP4241673B2 (ja) * | 2005-06-17 | 2009-03-18 | 本田技研工業株式会社 | 移動体の経路生成装置 |
JP5560979B2 (ja) * | 2010-07-13 | 2014-07-30 | 村田機械株式会社 | 自律移動体 |
EP2757504B1 (fr) * | 2013-01-17 | 2022-06-01 | Google LLC | Planification d'itinéraire |
WO2017019595A1 (fr) * | 2015-07-27 | 2017-02-02 | Genghiscomm Holdings, LLC | Relais aéroportés dans des systèmes mimo à des fins de coopération |
US10114384B2 (en) * | 2016-09-13 | 2018-10-30 | Arrowonics Technologies Ltd. | Formation flight path coordination of unmanned aerial vehicles |
-
2017
- 2017-04-12 US US16/603,816 patent/US20200117220A1/en active Pending
- 2017-04-12 CA CA3236625A patent/CA3236625A1/fr active Pending
- 2017-04-12 CA CA3093522A patent/CA3093522C/fr active Active
- 2017-04-12 WO PCT/US2017/027253 patent/WO2018190833A1/fr active Application Filing
Also Published As
Publication number | Publication date |
---|---|
US20200117220A1 (en) | 2020-04-16 |
CA3093522C (fr) | 2024-05-07 |
WO2018190833A1 (fr) | 2018-10-18 |
CA3093522A1 (fr) | 2018-10-18 |
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Legal Events
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EEER | Examination request |
Effective date: 20240426 |
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Effective date: 20240426 |
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EEER | Examination request |
Effective date: 20240426 |